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float32
0
52.6
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int64
0
1.05k
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int64
0
0
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int64
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1.05k
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int64
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1.5
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1.55
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1.6
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1.65
33
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1.7
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1.75
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1.8
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1.85
37
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37
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1.9
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1.95
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2
40
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2.05
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2.1
42
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42
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2.15
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2.2
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2.25
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2.3
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2.35
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2.4
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2.45
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2.5
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2.55
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2.6
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2.65
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2.7
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2.75
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2.8
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2.85
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2.9
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2.95
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3
60
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3.05
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0
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3.1
62
0
62
0
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3.15
63
0
63
0
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3.2
64
0
64
0
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3.25
65
0
65
0
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3.3
66
0
66
0
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3.35
67
0
67
0
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3.4
68
0
68
0
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3.45
69
0
69
0
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3.5
70
0
70
0
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3.55
71
0
71
0
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3.6
72
0
72
0
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3.65
73
0
73
0
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3.7
74
0
74
0
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3.75
75
0
75
0
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3.8
76
0
76
0
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3.85
77
0
77
0
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3.9
78
0
78
0
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3.95
79
0
79
0
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4
80
0
80
0
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4.05
81
0
81
0
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4.1
82
0
82
0
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4.15
83
0
83
0
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4.2
84
0
84
0
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4.25
85
0
85
0
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4.3
86
0
86
0
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4.35
87
0
87
0
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4.4
88
0
88
0
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4.45
89
0
89
0
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4.5
90
0
90
0
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4.55
91
0
91
0
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4.6
92
0
92
0
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[ -12.131868362426758, -96.70330047607422, 94.19779968261719, 71.9120864868164, -2.681318759918213, 3.0880420207977295, -14.329669952392578, -39.82417678833008, 4.087912082672119, 70.19779968261719, -6.285714149475098, 2.3591086864471436 ]
4.65
93
0
93
0
[ -12.375941276550293, -102.4063720703125, 91.86367797851562, 72.27696990966797, -3.3312034606933594, 2.5444626808166504, -13.70498275756836, -37.08257293701172, -2.020313262939453, 70.28020477294922, -6.080085277557373, 2.4342470169067383 ]
[ -12.131868362426758, -96.70330047607422, 94.19779968261719, 71.9120864868164, -2.769230842590332, 3.0880420207977295, -14.329669952392578, -38.85714340209961, 2.5934066772460938, 70.19779968261719, -6.285714149475098, 2.3591086864471436 ]
4.7
94
0
94
0
[ -12.507704734802246, -102.24092102050781, 91.9568862915039, 72.2819595336914, -3.824481964111328, 2.4650135040283203, -13.586299896240234, -36.911006927490234, -2.7682418823242188, 70.80241394042969, -6.230339527130127, 2.365483522415161 ]
[ -12.131868362426758, -96.70330047607422, 94.19779968261719, 71.9120864868164, -3.0329670906066895, 3.0880420207977295, -14.329669952392578, -37.89011001586914, 1.0109890699386597, 70.19779968261719, -6.285714149475098, 2.3591086864471436 ]
4.75
95
0
95
0
[ -12.660917282104492, -102.21659851074219, 91.65757751464844, 72.49996948242188, -3.5805511474609375, 2.61912202835083, -13.709587097167969, -37.86715316772461, -2.6002120971679688, 71.57550811767578, -6.358988285064697, 2.4156875610351562 ]
[ -12.131868362426758, -96.70330047607422, 94.19779968261719, 71.9120864868164, -3.0329670906066895, 3.0880420207977295, -14.329669952392578, -37.36263656616211, 0.48351648449897766, 70.19779968261719, -6.285714149475098, 2.3591086864471436 ]
4.8
96
0
96
0
[ -12.655806541442871, -102.14048767089844, 91.74388122558594, 72.29389953613281, -3.5416793823242188, 2.6334543228149414, -13.758228302001953, -36.060340881347656, -5.063560485839844, 71.4865493774414, -6.2819414138793945, 2.428874969482422 ]
[ -12.131868362426758, -96.70330047607422, 94.19779968261719, 71.9120864868164, -3.0329670906066895, 3.0880420207977295, -14.329669952392578, -37.010990142822266, -0.1318681389093399, 70.54945373535156, -6.285714149475098, 2.3591086864471436 ]
4.85
97
0
97
0
[ -12.997640609741211, -102.53873443603516, 91.85649108886719, 72.3762435913086, -3.1529083251953125, 2.502213954925537, -13.166831970214844, -36.693878173828125, -3.521596908569336, 71.56884765625, -6.28389835357666, 2.4100639820098877 ]
[ -12.219779968261719, -96.70330047607422, 94.19779968261719, 71.9120864868164, -3.0329670906066895, 3.0880420207977295, -14.329669952392578, -37.010990142822266, -0.3076923191547394, 71.07691955566406, -6.285714149475098, 2.3591086864471436 ]
4.9
98
0
98
0
[ -12.885507583618164, -102.23916625976562, 91.80027770996094, 72.19487762451172, -3.500804901123047, 2.604218006134033, -13.297836303710938, -34.9013557434082, -5.898927688598633, 71.80104064941406, -6.320269584655762, 2.4149858951568604 ]
[ -12.219779968261719, -96.70330047607422, 94.19779968261719, 71.9120864868164, -3.0329670906066895, 3.0880420207977295, -14.329669952392578, -36.39560317993164, -1.802197813987732, 71.25274658203125, -6.285714149475098, 2.3591086864471436 ]
4.95
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "bi_so_follower",
    "total_episodes": 1,
    "total_frames": 1052,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:1"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
                12
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
                12
            ]
        },
        "observation.images.camera1": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera2": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
                "height",
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                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.camera3": {
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            ],
            "names": [
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            ],
            "info": {
                "video.height": 360,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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